Start all Thymios at the same time

game/scoreboard.py

 import cv2
+from socket import *
 from PyQt5 import QtWidgets as qtw
 from PyQt5 import QtCore as qtc
 from PyQt5 import QtGui as qtg
@@ -7,7 +8,9 @@ from game.detector import Detector
 
 
 class ScoreWindow(ScoreWindowUi):
+    SEND_TIME = 500
     WEBCAM_REFRESH_TIME = 50
+    PORT = 42563
 
     def __init__(self, teams):
         super().__init__()
@@ -15,22 +18,31 @@ class ScoreWindow(ScoreWindowUi):
         self.teams = teams
         self.initial_time = 0
         self.time_is_red = False
-        self.is_started = False
+        self.join_started = False
         self.detector = Detector()
 
-        self.start_stop_button.clicked.connect(self.start_stop_activity)
+        self.socket = socket(AF_INET, SOCK_DGRAM)
+        self.socket.setsockopt(SOL_SOCKET, SO_REUSEADDR, 1)
+        self.socket.setsockopt(SOL_SOCKET, SO_BROADCAST, 1)
+        self.socket_dest = ('255.255.255.255', self.PORT)
+
+        self.scoreboard_timer = qtc.QTimer()
+        self.webcam_timer = qtc.QTimer()
+        self.send_timer = qtc.QTimer()
+
+        self.start_join_button.clicked.connect(self.start_stop_activity)
 
     def start_scoreboard(self, time):
         # Start and display the clock
         self.time_edit.setTime(time)
         self.initial_time = - time.secsTo(qtc.QTime(0, 0, 0, 0))  # Time set initially in seconds
-        self.timer.timeout.connect(self.timer_timeout)
+        self.scoreboard_timer.timeout.connect(self.timer_timeout)
         # Show the webcam
-        self.webcam_timer.timeout.connect(self.refresh_webcam)
-        self.refresh_webcam(detect_tags=False)
+        self.webcam_timer.timeout.connect(self.refresh_webcam_no_detect)
+        self.webcam_timer.start(self.WEBCAM_REFRESH_TIME)
 
     def timer_timeout(self):
-        self.timer.start(1000)
+        self.scoreboard_timer.start(1000)
         if self.time_edit.time() == qtc.QTime(0, 0, 0, 0):
             if self.time_is_red:
                 self.time_edit.setStyleSheet("color: rgba(255, 255, 255, 222)")
@@ -75,6 +87,9 @@ class ScoreWindow(ScoreWindowUi):
         # Keep the points item so the points can be modified later easily
         team.points_item = points_item
 
+    def refresh_webcam_no_detect(self):
+        self.refresh_webcam(detect_tags=False)
+
     def refresh_webcam(self, detect_tags=True):
         # Read an image from the webcam and detect the tags it contains
         ret, frame = self.detector.cam.read()
@@ -112,9 +127,7 @@ class ScoreWindow(ScoreWindowUi):
             item.setText("#" + str(row + 1))
 
     def add_points(self, tag_id):
-        """
-        Add points to the team with the corresponding tag id
-        """
+        """ Add points to the team with the corresponding tag id """
         team = self.teams[tag_id]
         remaining_time = - self.time_edit.time().secsTo(qtc.QTime(0, 0, 0, 0))
         if remaining_time > 0:  # Teams can't win any points after the timer has ended
@@ -130,16 +143,34 @@ class ScoreWindow(ScoreWindowUi):
         self.list_widget.insertItem(0, message)
 
     def start_stop_activity(self):
-        """
-        Start or stop the activity depending on the last button state
-        """
-        if self.is_started:
-            self.timer.stop()
-            self.webcam_timer.stop()
-            self.start_stop_button.setIcon(qtg.QIcon('game/icons/start.png'))
-            self.is_started = False
-        else:
-            self.timer.start(1000)
+        """ Start or stop the activity depending on the last button state """
+        if self.join_started:
+            # Start scoreboard and tag detection
+            self.webcam_timer.timeout.connect(self.refresh_webcam)
+            self.scoreboard_timer.start(1000)
             self.webcam_timer.start(self.WEBCAM_REFRESH_TIME)
-            self.start_stop_button.setIcon(qtg.QIcon('game/icons/stop.png'))
-            self.is_started = True
+
+            self.start_join_button.setIcon(qtg.QIcon('game/icons/start.png'))
+            self.join_started = False
+
+            # Run all Thymios at the same time
+            self.send_timer.timeout.connect(self.send_start_broadcast)
+            self.send_timer.start(self.SEND_TIME)
+
+        else:
+            self.start_join_button.setIcon(qtg.QIcon('game/icons/join.png'))
+            self.join_started = True
+
+            # Send a message to all Thymios so they can join the activity
+            self.send_timer.timeout.connect(self.send_join_broadcast)
+            self.send_timer.start(self.SEND_TIME)
+
+    def send_join_broadcast(self):
+        """ Send a message to all Thymios so they can join the activity """
+        self.socket.sendto("join".encode(), self.socket_dest)
+        self.send_timer.start(self.SEND_TIME)
+
+    def send_start_broadcast(self):
+        """ Send a message to all Thymios to run at the same time """
+        self.socket.sendto("start".encode(), self.socket_dest)
+        self.send_timer.start(self.SEND_TIME)

game/scoreboard_ui.py

@@ -18,9 +18,9 @@ class ScoreWindowUi(qtw.QMainWindow):
         palette.setColor(qtg.QPalette.Background, qtg.QColor("#E0E1E0"))
         self.setPalette(palette)
 
-        self.start_stop_button = qtw.QPushButton()
-        self.start_stop_button.setIcon(qtg.QIcon('game/icons/start.png'))
-        self.start_stop_button.setIconSize(qtc.QSize(50, 50))
+        self.start_join_button = qtw.QPushButton()
+        self.start_join_button.setIcon(qtg.QIcon('game/icons/start.png'))
+        self.start_join_button.setIconSize(qtc.QSize(50, 50))
 
         self.time_edit = qtw.QTimeEdit()
         self.time_edit.setDisplayFormat("mm:ss")
@@ -28,12 +28,15 @@ class ScoreWindowUi(qtw.QMainWindow):
         self.time_edit.setFixedHeight(200)
         self.time_edit.setDisabled(True)  # The time can't be modified or selected
 
+        horizontal_spacer = qtw.QSpacerItem(40, 20, qtw.QSizePolicy.Minimum)
+
         # The time edit needs to be inside a widget so that we can set the style of the widget and
         # later when the font color of the time edit is changed, the widget style remains the same
         self.time_widget = qtw.QWidget()
         hlayout1 = qtw.QHBoxLayout()
+        hlayout1.addItem(horizontal_spacer)
         hlayout1.addWidget(self.time_edit)
-        hlayout1.addWidget(self.start_stop_button)
+        hlayout1.addWidget(self.start_join_button)
         self.time_widget.setLayout(hlayout1)
 
         with open("game/qss/time_widget.qss", "r") as f:
@@ -46,7 +49,6 @@ class ScoreWindowUi(qtw.QMainWindow):
             self.list_widget.setStyleSheet(f.read())
 
         self.webcam_label = qtw.QLabel()
-        self.webcam_timer = qtc.QTimer()
 
         self.table_widget = qtw.QTableWidget(0, 3, self)
         self.table_widget.setHorizontalHeaderItem(self.RANK, qtw.QTableWidgetItem("Classement"))
@@ -66,8 +68,6 @@ class ScoreWindowUi(qtw.QMainWindow):
         with open("game/qss/table_widget.qss", "r") as f:
             self.setStyleSheet(f.read())
 
-        self.timer = qtc.QTimer(self)
-
         vlayout1 = qtw.QVBoxLayout()
         vlayout1.addWidget(self.list_widget)
         vlayout1.addWidget(self.webcam_label)